void Trajectory::PlotTransformedTrajectory(bot_lcmgl_t *lcmgl, const BotTrans *transform) { bot_lcmgl_line_width(lcmgl, 2.0f); bot_lcmgl_begin(lcmgl, GL_LINE_STRIP); for (int i=0; i<int(xpoints_.size()); i++) { double xyz[3]; GetTransformedPoint(i, transform, xyz); bot_lcmgl_vertex3f(lcmgl, xyz[0], xyz[1], xyz[2]); } bot_lcmgl_end(lcmgl); }
int main(int argc, char** argv) { lcm_t* lcm_ = lcm_create(NULL); bot_lcmgl_t* lcmgl_ = bot_lcmgl_init(lcm_, "LCMGL_DEMO"); // lcmgl setup bot_lcmgl_translated(lcmgl_, 0, 0, 0); bot_lcmgl_line_width(lcmgl_, 2.0f); bot_lcmgl_point_size(lcmgl_, 12.0f); bot_lcmgl_begin(lcmgl_, GL_POINTS); // setup color and draw a point bot_lcmgl_color3f(lcmgl_, 1.0, 0, 0); bot_lcmgl_vertex3f(lcmgl_, 0, 0, 1); // end and refresh to viewer bot_lcmgl_end(lcmgl_); bot_lcmgl_switch_buffer(lcmgl_); printf("Dosvedanya!\n"); return 0; }